Method for controlling vehicle, vehicle and electronic device

ABSTRACT

A method for controlling a vehicle is provided. The vehicle includes an image capturing device. The method includes: controlling the image capturing device to collect an image of a scene where the vehicle is located; acquiring projection information of a projection pattern in the image; determining image-altering information corresponding to the projection pattern according to the projection information; and controlling movement of the vehicle according to the image-altering information.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is based on and claims priority to the Chinese PatentApplication No. 202110969507.8, filed on Aug. 23, 2021, the entirecontent of which is incorporated herein by reference.

TECHNICAL FIELD

The present disclosure generally relates to the field of intellectualdriving technology, and more particularly, to a method and apparatus forcontrolling a vehicle, a vehicle and an electronic device.

BACKGROUND

With the development of the intellectual driving technology, it is veryimportant to identify information at a scene where a vehicle is located.Identification of the information at the scene (for example, identifyingthe road, terrain and obstacle information at the scene) can aidperception, obstacle avoidance, localization and control of the vehicle.

In the related art, the identification of the information of the scenewhere the vehicle is located is usually achieved by a laser radar, anultrasonic sensor and deep learning algorithm, so as to aid perception,obstacle avoidance, localization and control of the vehicle.

However, these traditional methods for identification of information atthe scene is tedious, which would adversely affect the robustness of thevehicle control method, and in turn, safe operation of the vehicle.

SUMMARY

A method for controlling a vehicle including an image capturing deviceis provided. The method includes: controlling the image capturing deviceto collect an image of a scene where the vehicle is located; acquiringprojection information of a projection pattern in the image; determiningimage-altering information corresponding to the projection patternaccording to the projection information; and controlling movement of thevehicle according to the image-altering information.

A vehicle includes: a body; a plurality of image capturing devices,configured to collect an image of a scene; and a control apparatus,connected to each of the plurality of image capturing devices, andconfigured to execute the method for controlling a vehicle as describedabove.

An electronic device includes: a memory, a processor and a computerprogram stored in the memory and executable on the processor, whereinthe processor when executing the program achieves a method forcontrolling a vehicle as described above, wherein the vehicle includesan image capturing device, and the processor is configured to: controlthe image capturing device to collect an image of a scene where thevehicle is located; acquire projection information of a projectionpattern in the image; determine image-altering information correspondingto the projection pattern according to the projection information; andcontrol movement of the vehicle according to the image-alteringinformation.

BRIEF DESCRIPTION OF THE DRAWINGS

The above and/or additional aspects and advantages of the presentdisclosure will become apparent and easily understood from the followingdescription of embodiments in conjunction with the accompanyingdrawings.

FIG. 1 is a flow chart illustrating a method for controlling a vehicleaccording to an embodiment of the present disclosure.

FIG. 2 is a schematic diagram illustrating a random pattern according toan embodiment of the present disclosure.

FIG. 3 is a schematic diagram illustrating a sine wave pattern accordingto an embodiment of the present disclosure.

FIG. 4 is a schematic diagram illustrating a two-dimensional codepattern according to an embodiment of the present disclosure.

FIG. 5 is a schematic diagram illustrating a grid pattern according toan embodiment of the present disclosure.

FIG. 6 is a flow chart illustrating a method for controlling a vehicleaccording to another embodiment of the present disclosure.

FIG. 7 is a flow chart illustrating a method for controlling a vehicleaccording to still another embodiment of the present disclosure.

FIG. 8 is a schematic diagram illustrating an application scenario of amethod for controlling a vehicle according to an embodiment of thepresent disclosure.

FIG. 9 is a block diagram of an apparatus of controlling a vehicleaccording to an embodiment of the present disclosure.

FIG. 10 is a block diagram of an apparatus of controlling a vehicleaccording to another embodiment of the present disclosure.

FIG. 11 is a block diagram of a vehicle according to an embodiment ofthe present disclosure.

FIG. 12 is a block diagram of an electronic device according to anembodiment of the present disclosure.

DETAILED DESCRIPTION

Reference will now be made in detail to embodiments, examples of whichare illustrated in the accompanying drawings. The following descriptionrefers to the accompanying drawings in which the same numbers indifferent drawings represent the same or similar elements unlessotherwise represented. The embodiments described below with reference tothe accompanying drawings are illustrative and are only used to explainthe present disclosure and should not be construed as limitation of thepresent disclosure. On the contrary, the embodiments of the presentdisclosure include all changes, modifications and equivalents fallingwithin the spirit and scope of the appended claims.

FIG. 1 is a flow chart illustrating a method for controlling a vehicleaccording to an embodiment of the present disclosure.

This embodiment is illustrated in that a method for controlling avehicle is arranged in an apparatus of controlling a vehicle.

In this embodiment, the method for controlling a vehicle may be arrangedin an apparatus of controlling a vehicle; the apparatus of controlling avehicle may be arranged in a server or a mobile terminal, which is notlimited by embodiments of the present disclosure.

It should be noted that an execution subject in this embodiment may befor example a central processing unit (hereinafter referred to as CPU)in a server or a mobile terminal as hardware; or may be for example arelated background service in a server or a mobile terminal as software,which is not limited herein.

As shown in FIG. 1 , the method for controlling a vehicle includes stepsS101 to S104.

At the step S101, the image capturing device is controlled to collect animage of a scene where the vehicle is located.

In some embodiments, prior to controlling the image capturing device tocollect an image of a scene where the vehicle is located, a projectiondevice may be controlled to project a projection pattern to the scene.

In embodiments of the present disclosure, the projection device may bespecifically, for example, a light source having an optical modulationfunction and arranged in a vehicle (the number of the light sources maybe adaptively arranged according to needs of an actual businessscenario, which is not limited herein). The light source may also beintegrated with a vehicle lamp; the light source may be of a wavelengthrange of visible light or invisible light such as infrared light, whichare not limited herein.

In some other embodiments, the projection device may also be integratedin an image capturing device, thus achieving both a projection functionand an image capture function; alternatively, the projection device mayalso be arranged apart from the vehicle, which is not limited herein.

The projection device may project a corresponding pattern to the scenewhere the vehicle is located. Said pattern may also be referred to asthe projection pattern, which may be for example a grid pattern, arandom coded pattern, a sine wave pattern, a triangular wave pattern, atwo-dimensional code pattern (as shown in FIG. 2 to FIG. 5 , FIG. 2 is aschematic diagram illustrating a random pattern according to anembodiment of the present disclosure; FIG. 3 is a schematic diagramillustrating a sine wave pattern according to an embodiment of thepresent disclosure; FIG. 4 is a schematic diagram illustrating atwo-dimensional code pattern according to an embodiment of the presentdisclosure; and FIG. 5 is a schematic diagram illustrating a gridpattern according to an embodiment of the present disclosure), which isnot limited herein.

In this embodiment, the image of the scene where the vehicle is locatedmay be obtained when the image capturing device captures the projectionpattern projected by the projection device to the scene. That is, theprojection device may project a set projection pattern to a projectionarea in the scene, then the image capturing device captures an image ofa scene picture including said projection area. Said image may bereferred to as the image of scene where the vehicle is located.

The number of the images of the scene where the vehicle is located maybe one or more, which is not limited herein.

In some embodiments, one image capturing device may be arranged tocollect a plurality of the images of the scene; alternatively, aplurality of the image capturing devices may be arranged such thatindividual image capturing devices captures the image of the sceneseparately to obtain a plurality of the images, which is not limitedherein.

At the step S102, projection information of the projection pattern inthe image is acquired.

After the image capturing device is controlled to collect the image ofthe scene where the vehicle is located as described above, projectioninformation of the projection pattern in the image may be acquired.

The image of the scene picture including the projection area captured bythe image capturing device may include information related to theprojection pattern, which may be referred to as the projectioninformation. The projection information may be specifically, forexample, pixel information of the projection pattern, image-alteringinformation of the projection pattern, brightness information of theprojection pattern and the like, which is not limited herein.

In some embodiments, acquiring information of a projection pattern inthe image may include parsing the image to obtain the projectioninformation of the projection pattern in the image, for example, mayfurther include parsing the projection pattern included in the image toobtain a plurality of pixel coordinates of the projection pattern, andtaking the plurality of pixel coordinates as the projection information,which is not limited herein.

Alternatively, the image may also be input into a deep learning modelwell-trained in advance, to obtain a plurality of pixel coordinates ofthe projection pattern in the image which are output from the deeplearning model; and the plurality of pixel coordinates are taken as theprojection information. Alternatively, the projection information of theprojection pattern in the image may also be acquired by any otherfeasible way, which is not limited herein.

At the step S103, image-altering information corresponding to theprojection pattern is determined according to the projectioninformation.

After the image is parsed to acquire the projection information of theprojection pattern in the image as described above, the image-alteringinformation corresponding to the projection pattern may be determinedaccording to the projection information.

In this embodiment, when controlling the projection device to projectthe projection pattern to the scene where the vehicle is located,because of a possible presence of an obstacle in the scene where thevehicle is located, the projection pattern projected by the projectiondevice, when falling at the obstacle, will deform to varying degrees dueto shadowed by the obstacle. Accordingly, information for describing thedeformation of the projection pattern can be referred to as theimage-altering information, which may be specifically, for example, apixel coordinate offset, an angle offset, a size offset and the like ofthe projection pattern, which is not limited herein.

In some embodiments, determining image-altering informationcorresponding to the projection pattern according to the projectioninformation may include comparing a deformed projection pattern with anundeformed projection pattern projected by the projection device, toobtain change information of the projection pattern relative to theundeformed projection pattern; and taking the change information as theimage-altering information.

For example, taking the projection pattern projected by the projectiondevice being the grid pattern as an example, a deformed grid pattern maybe compared with the undeformed grid pattern, to judge offset angleinformation of the grid, offset size information of the grid andbrightness information of the grid pattern. The above described multipleinformation are taken as the image-altering information, which is notlimited herein.

At the step S104, movement of the vehicle is controlled according to theimage-altering information.

After the image-altering information corresponding to the projectionpattern is determined according to the projection information asdescribed above, movement of the vehicle may be controlled according tothe image-altering information.

In other words, after the image-altering information corresponding tothe projection pattern is obtained as described above, the movement indifferent types of the vehicle may be controlled according to theimage-altering information of the projection pattern and the scene wherethe vehicle is located. For example, a parking scene, a driving scene orthe like, in combination with the image-altering information of theprojection pattern, give a control strategy adapted to a current scene.

In some embodiments, the scene where the vehicle is located is judged.For example, it may judge whether an obstacle is present in the scenewhere the vehicle is located and an orientation of the obstacle, basedon which to control the movement of the vehicle. For example, it maycontrol the vehicle to make avoidance (e.g., detour to left, detour toright, U-turn, and lane change) according to judged position of theobstacle in the scene where the vehicle is located. It may also controlthe vehicle to decelerate according to judged ground flatness of groundin the scene where the vehicle is located. The corresponding control ofthe vehicle according to the image-altering information as describedabove may be referred to as controlling movement, which is not limitedherein

In some embodiment, controlling movement of the vehicle according to theimage-altering information may include controlling the movement of thevehicle according to the brightness information in the image. Forexample, in the case that the ground of the scene where the vehicle islocated is flat, the brightness of the projection pattern in the imageis consistent; in the case that the ground of the scene where thevehicle is located is not flat, the brightness of the projection patternin the image may vary correspondingly, such that the brightnessinformation corresponding to the projection pattern can be parsed, thuscontrolling the movement of the vehicle.

For example, in the case that the image-altering information of theprojection pattern indicates a certain part of the projection patternprojected to a road surface becoming darker, it may be considered thatdepression may exist there, such that the vehicle may be controlled tomake corresponding avoidance; alternatively, in the case that theimage-altering information of the projection pattern indicates a certainpart of the projection pattern projected to a road surface becomingbrighter, it may be considered that a protruding obstacle exists here,such that the vehicle may be controlled to make corresponding avoidance,which is not limited here.

In this embodiment, by controlling the image capturing device to collectthe image of the scene where the vehicle is located; acquiring theprojection information of the projection pattern in the image;determining the image-altering information corresponding to theprojection pattern according to the projection information; andcontrolling the movement of the vehicle according to the image-alteringinformation, it may effectively aid identification of the relativeinformation of the scene where the vehicle is located, thus effectivelyincreasing accuracy of controlling the movement of the vehicle,enhancing safety of operation of the vehicle, and improving robustnessand applicability of the vehicle control method.

FIG. 6 is a flow chart illustrating a method for controlling a vehicleaccording to another embodiment of the present disclosure

As shown in FIG. 6 , the method for controlling a vehicle includes stepsS601 to S607.

At the step S601, the image capturing device is controlled to collect animage of a scene where the vehicle is located.

The description for the step S601 may refer to the above embodiment fordetails, which will not be elaborated here.

At the step S602, information of a reference pixel point in a referenceimage is determined. The reference image belongs to a plurality of theimages.

The vehicle may include a plurality of the image capturing devices, forcollecting a plurality of the images of the scene where the vehicle islocated. The plurality of the image capturing devices may bespecifically, for example, a first camera (the first camera is the imagecapturing device for collecting the reference image) and a second camera(the second camera is the image capturing device for collecting a targetimage). The image collected by the first camera is different from thatby the second camera. In other words, the image collected by the firstcamera may be taken as the reference image; while the image collected bythe second camera may be taken as the target image. The reference imageand the target image may be in a correspondingly associatingrelationship, which may be used to aid controlling of the vehicle, whichis not limited herein.

In embodiments of the present disclosure, at least some image capturingdevices may be arranged with different collecting angles, such that whencollecting the corresponding images by the plurality of the imagecapturing devices respectively, the images may be collected bycontrolling the plurality of the image capturing devices at thecorresponding different collecting angles respectively (in embodimentsof the present disclosure, the plurality of the images may includeimages of the scene collected by individual image capturing devices).Alternatively, at least some image capturing devices may be arrangedwith other different image capturing parameters (e.g., a camera internalparameter or a camera external parameter), such that the plurality ofthe image capturing devices are controlled separately to collect theimages with the corresponding multiple image capturing parameters,thereby capturing the plurality of the images of the scene where thevehicle is located based on the different image capturing parameters,thus effectively improving control of the vehicle based on the images ofthe scene where the vehicle is located.

The image collected by the first camera as described above (the firstcamera is the image capturing device for collecting the reference image)may be referred to as the reference image. The number of the referenceimages may be one or more, which is not limited herein.

In this embodiment, the reference image may be obtained when the imagecapturing device captures the projection pattern projected by theprojection device to the scene. In other words, the projection devicemay project a set projection pattern to a projection area in the scene,then the image capturing device captures an image of a scene pictureincluding said projection area. The image of the scene picture mayinclude information related to the projection area.

The reference image may include a plurality of pixel points, each ofwhich may be referred to as a reference pixel point. Accordingly,information describing the reference pixel point may be referred to asinformation of the reference pixel point, which may include informationabout the pixel point itself, and information related to the projectionpattern around the pixel point, which is specifically for example areference pixel point coordinate based on a first camera coordinatesystem, which is not limited herein.

In some embodiments, determining information of the reference pixelpoint in the reference image may include determining reference pixelpoint in the reference image; determining reference pixel pointcoordinate of the reference pixel point based on the first cameracoordinate system; and taking the reference pixel point coordinate asthe information of the reference pixel point, which is not limitedherein.

At the step S603, the information of the reference pixel point isparsed, to obtain reference projection information of the projectionpattern in the reference image. The reference projection information isprojection information obtained when the image capturing device forcollecting the reference image captures the projection pattern.

The reference projection information is a reference pixel coordinatebased on a first camera coordinate system. The first camera coordinatesystem is a coordinate system of the image capturing device forcollecting the reference image.

After the information of the reference pixel point in the referenceimage is determined as described above, the information of the referencepixel point may be parsed, to obtain the reference projectioninformation of the projection pattern in the reference image. Thereference projection information is projection information obtained whenthe image capturing device for collecting the reference image capturesthe projection pattern, thereby effectively improving accuracy andreliability of the reference projection information, thus determiningthe target projection information and the image-altering informationmore accurately based on the reference projection information.

In other words, after the information of the reference pixel point inthe reference image is determined as described above, the information ofthe reference pixel point may be parsed, to obtain the reference pixelcoordinate based on the first camera coordinate system, and thereference pixel coordinate is taken as the reference projectioninformation, and will not be elaborated herein.

At the step S604, the target projection information is determinedaccording to the reference projection information. The target projectioninformation is projection information obtained when the image capturingdevice for collecting the target image captures the projection pattern,the target image belongs to a plurality of the images, and the referenceimage is different from the target image.

After the information of the reference pixel point is parsed to obtainthe reference projection information of the projection pattern in thereference image as described above, the target projection informationmay be determined according to the reference projection information,thereby effectively assisting in improvement of accuracy of determiningthe target pixel information based on the reference projectioninformation, and enhancing referability of the target pixel informationin a vehicle control scenario.

The target projection information is projection information obtainedwhen the image capturing device for collecting the target image capturesthe projection pattern, the target image belongs to a plurality of theimages, and the reference image is different from the target image.

The above described image collected by the second camera (the secondcamera is the image capturing device for collecting the target image)may be referred to as the target image. The number of the target imagemay be one or more, which is not limited herein.

The target projection information is a target pixel coordinate based ona second camera coordinate system. The second camera coordinate systemis a coordinate system of the image capturing device for collecting thetarget image.

In this embodiment, determining the target projection informationaccording to the reference projection information may includedetermining the target pixel coordinate of the second camera coordinatesystem according to the reference pixel coordinate of the first cameracoordinate system.

Optionally, in some embodiments, determining the target projectioninformation according to the reference projection information mayinclude determining the target projection information according to thereference projection information and a preset correspondingrelationship. Because the target projection information is determinedaccording to the preset corresponding relationship, the accuracy andreliability of the target projection information can be effectivelyimproved, thereby effectively assisting in improvement of accuracy ofdetermining the information of the target pixel point based on thetarget projection information, and enhancing referability of theinformation of the target pixel point in scene modelling.

The preset corresponding relationship includes the target projectioninformation corresponding to the reference projection information. Thepreset corresponding relationship is obtained in advance by calibratingthe projection pattern according to a reference image capturingparameter corresponding to the image capturing device for collecting thereference image and a target image capturing parameter of the imagecapturing device for collecting the target image.

For example, in some embodiments, the image capturing device forcollecting the reference image and the image capturing device forcollecting the target image may be calibrated, to obtain a correspondingpreset relationship represented by the following formulas:

$\left\{ {\begin{matrix}{P_{\_{cam}} = {T_{{\_{cam}}{\_{vehicle}}} \cdot P_{\_ i}}} \\{{UV}_{\_ i} = {K_{\_{cam}} \cdot P_{\_{can}}}}\end{matrix},} \right.$

where K__(cam) is an internal parameter matrix of the image capturingdevice; T__(cam_vehicle) is an external parameter matrix of the imagecapturing device; P__(i) is a coordinate of a point in a vehiclecoordinate system (i.e., a position point in the scene is based on thevehicle coordinate system as a main coordinate system); P__(cam) is acoordinate of said position point in an image capturing devicecoordinate system (P__(cam) corresponds to the reference pixelcoordinate in the first camera coordinate system; while P__(cam)corresponds to the target pixel coordinate in the second cameracoordinate system); and UV__(i) is a coordinate of the projectionpattern (i.e., the projection information, when obtained by the firstcamera, may be referred to as the reference projection information; whenobtained by the second camera, may be referred to as the targetprojection information).

In other embodiments, the projection device may also be taken as animage capturing device. Accordingly, the projection device may becalibrated to obtain a corresponding preset relationship represented bythe following formulas:

$\left\{ {\begin{matrix}{P_{\_{proj}} = {T_{{\_{proj}}{\_{vehicle}}} \cdot P_{\_ i}}} \\{{UV}_{\_ i} = {K_{\_{proj}} \cdot P_{\_{proj}}}}\end{matrix},} \right.$

where K__(proj) is an internal parameter matrix of the projectiondevice; T__(proj_vehicle) is an external parameter matrix of theprojection device; P__(i) is a coordinate of a point in a vehiclecoordinate system; P__(proj) is a coordinate of said point in aprojection device coordinate system; and UV__(i) is a coordinate of theprojection pattern.

After the above preset relationship is determined, the coordinateUV__(i) of the projection pattern captured by the second camera may beobtained according to the above preset relationship; and said coordinateis taken as the target projection information.

In other embodiments, the target pixel coordinate based on the secondcamera coordinate system may also be determined according to the targetprojection information by means of point-to-point matching; and thetarget pixel coordinate is taken as the target projection information,which is not limited herein.

For example, with respect to a reference pixel coordinate in the firstcamera coordinate system, as the reference projection information of theprojection pattern is projected around UV__(a), a target pixelcoordinate UV__(b) in the second camera coordinate system, matching thereference pixel coordinate UV__(a), may be determined by templatematching, intensity matching, and other comprehensive approaches.Besides, as an optical model of the projection device is consistent withthat of the camera, the projection device may be taken as a camera,participating in the point-to-point matching, so that all pixel pointsare matched to obtain the target pixel coordinate UV__(b) in the secondcamera coordinate system, matching the reference pixel coordinateUV__(a); and the target pixel coordinate is taken as the targetprojection information.

After the target projection information (the target pixel coordinatebased on the second camera coordinate system) is determined according tothe reference projection information (the reference pixel coordinatebased on the first camera coordinate system) by means of thepoint-to-point matching as described above, a group of matching pointsIR__(i) (UV__(a), UV__(b), UV__(c), . . . ) that are successfullymatched are recorded, where a, b, c, represent different cameras; onegroup of matching points at least includes two points, which is notlimited herein.

At the step S605, the image-altering information corresponding to theprojection pattern is determined according to the reference projectioninformation and the target projection information.

Optionally, in some embodiments, as shown in FIG. 7 , a flow chartillustrating a method for controlling a vehicle according to stillanother embodiment of the present disclosure, determining theimage-altering information corresponding to the projection patternaccording to the reference projection information and the targetprojection information includes steps S701 to S703.

At the step S701, coordinate conversion is performed on the referencepixel coordinate according to the reference image capturing parameter,to obtain a first point coordinate of the position point based on avehicle coordinate system, wherein the vehicle coordinate system is acoordinate system where the vehicle is located.

After the coordinate conversion is performed on the reference pixelcoordinate according to the reference image capturing parameter, thecoordinate of the position point based on the vehicle coordinate systemmay be obtained, and said coordinate may be referred to as the firstpoint coordinate.

In this embodiment, performing the coordinate conversion on thereference pixel coordinate according to the reference image capturingparameter to obtain the first point coordinate of the position pointbased on the vehicle coordinate system may be determined according to anassociating relationship between the reference image capturingparameter, the reference pixel coordinate and the first pointcoordinate. The associating relationship is represented by:

uv _(a) =K _(a) ·T _(a) ·P _(i),

where P_(i) is the first point coordinate of the position point based onthe vehicle coordinate system; T_(a) is an external parametercalibration matrix of the first camera; K_(a) is an internal parametercalibration matrix of the first camera, where the external parametercalibration matrix T_(a) and the internal parameter calibration matrixK_(a) each may be referred to as the reference image capturing parameteras described above; and uv_(a) represents the reference pixel coordinateof the position point based on the first camera coordinate system.

At the step S702, coordinate conversion is performed on the target pixelcoordinate according to the target image capturing parameter, to obtaina second point coordinate of the position point based on the vehiclecoordinate system.

After the coordinate conversion is performed on the target pixelcoordinate according to the target image capturing parameter, thecoordinate of the position point based on the vehicle coordinate systemmay be obtained, and said coordinate may be referred to as the secondpoint coordinate.

In this embodiment, performing the coordinate conversion on the targetpixel coordinate according to the target image capturing parameter toobtain the second point coordinate of the position point based on thevehicle coordinate system may be determined according to an associatingrelationship between the target image capturing parameter, the targetpixel coordinate and the second point coordinate. The associatingrelationship is represented by:

uv _(b) =K _(b) ·T _(b) ·p _(i),

where P_(i) is the second point coordinate of the position point basedon the vehicle coordinate system; T_(b) is an external parametercalibration matrix of the second camera; K_(b) is an internal parametercalibration matrix of the second camera, where the external parametercalibration matrix T_(b) and the internal parameter calibration matrixK_(b) each may be referred to as the target image capturing parameter asdescribed above; and uv_(b) represents the target pixel coordinate ofthe position point based on the second camera coordinate system.

At the step S703, the image-altering information corresponding to theprojection pattern is determined according to the first point coordinateand a plurality of the second point coordinates.

Optionally, in some embodiments, determining the image-alteringinformation corresponding to the projection pattern according to thefirst point coordinate and the plurality of the second point coordinatesmay include generating point cloud data corresponding to the positionpoint according to the first point coordinate and the plurality of thesecond point coordinates; and determining the image-altering informationcorresponding to the projection pattern according to a plurality of thepoint cloud data corresponding to a plurality of the position points inthe scene. Because the image-altering information corresponding to theprojection pattern is determined according to the point cloud datacorresponding to the position point, determination of the image-alteringinformation can be provided with a new dimension, thus effectivelyimproving accuracy and reliability of the image-altering information.

A collection of the plurality of the point data may be referred to asthe point cloud data.

In some embodiments, generating point cloud data corresponding to theposition point according to the first point coordinate and the pluralityof the second point coordinates may include generating a point cloudplot corresponding to the position point according to the first pointcoordinate and the plurality of the second point coordinates, and takingthe point cloud plot as the point cloud data corresponding to theposition point, which is not limited herein.

After the point cloud data corresponding to the position point isgenerated according to the first point coordinate and the plurality ofthe second point coordinates as described above, the image-alteringinformation corresponding to the projection pattern may be determinedaccording to the plurality of the point cloud data corresponding to theplurality of the position points in the scene.

In this embodiment, a three-dimensional model of the scene may be builtaccording to the plurality of the point cloud data respectivelycorresponding to the plurality of the position points in the scene, thusdetermining the image-altering information corresponding to theprojection pattern by the three-dimensional model of the scene, which isnot limited herein.

Of course, determining the image-altering information corresponding tothe projection pattern according to the first point coordinate and theplurality of the second point coordinates may also be achieved by anyother approaches, such as an artificial intelligence approach, anengineering approach, a mathematical analysis approach, which is notlimited herein.

In this embodiment, by performing the coordinate conversion on thereference pixel coordinate according to the reference image capturingparameter to obtain the first point coordinate of the position pointbased on the vehicle coordinate system, wherein the vehicle coordinatesystem is a coordinate system where the vehicle is located; andperforming the coordinate conversion on the target pixel coordinateaccording to the target image capturing parameter to obtain the secondpoint coordinate of the position point based on the vehicle coordinatesystem; and determining the image-altering information corresponding tothe projection pattern according to the first point coordinate and theplurality of the second point coordinates, accuracy of theimage-altering information can be effectively increased, so that it ispossible to judge the obstacle existing in the scene where in thevehicle is based on the image-altering information, thus effectivelyimproving control of the vehicle.

At the step S606, terrain information of ground is determined accordingto the image-altering information.

After the projection information corresponding to the projection patternis determined as described above, the terrain information of ground maybe determined according to the image-altering information.

Optionally, in some embodiments, determining terrain information ofground according to the image-altering information may includedetermining ground flatness of the ground according to theimage-altering information; and/or determining a ground slope of theground according to the image-altering information; and/or determiningtraffic sign information on the ground according to the image-alteringinformation, wherein at least one of the ground flatness, the groundslope and the traffic sign information is taken as the terraininformation, thereby effectively increasing accuracy of determining theterrain information, and thus improving control of individual proceduresof vehicle driving based on the terrain information.

At the step S607, the movement of the vehicle is controlled according tothe terrain information.

In some embodiments, controlling movement of the vehicle according tothe terrain information includes: controlling a moving speed of thevehicle according to the above determined ground flatness, thusimproving drive comfortability; providing references for controlling anaccelerated speed and a torque during the movement of the vehicleaccording to the above determined ground slope; and providing a supportfor a driving decision such as turning and stopping of the vehicleaccording the above determined traffic sign information (such as a laneline, a stop line and an arrow).

In this embodiment, by determining the terrain information of the groundaccording to the image-altering information; and controlling themovement of the vehicle according to the terrain information, as thecorresponding control of the vehicle is made according to the terraininformation, it can make a more accurate decision for the vehicleagainst different terrain information, thus effectively enhancing safetyof operation of the vehicle, and effectively improving control of thevehicle.

Optionally, in some other embodiment, controlling the movement of thevehicle may further include: determining shape information and positioninformation of a target object according to the above determinedimage-altering information; and controlling the vehicle to avoid anobstacle according to the shape information and the positioninformation, so that it may bring about significant improvement inperception, obstacle avoidance, control of the vehicle, therebyeffectively improving obstacle avoiding effect of the vehicle indifferent operating scenes, and thus effectively enhancing drivecomfortability of the vehicle.

The target object refers to an obstacle in the scene where the vehicleis located (for example, a curb, a wall and a tree trunk). Accordingly,information reflecting a shape of the target object may be referred toas the shape information (the shape information may be specifically forexample a height, a width and a depression degree of the obstacle);information reflecting a position of the target object may be referredto as the position information (the position information may bespecifically for example an orientation and a distance of the obstacle).

In other words, the shape information and the position information ofthe obstacle may be determined according to the image-alteringinformation, thereby controlling the vehicle to avoid the obstacle indifferent vehicle operating scenes according to the shape informationand the position information. Some examples are given below.

(1) In a parking scene, according to the image-altering information,determining the shape information and the position information of theobstacle, including: a wheel block, a curb, a wall, a tree trunk, etc.,to aid the vehicle to make reasonable avoidance when parking, thusachieving accurate parking.

(2) In a driving scene, according to the image-altering information,determining the shape information and the position information of theobstacle, including: a road edge, a manhole cover, a road pothole, afence, a vehicle in a close distance, etc., to aid the vehicle to makereasonable avoidance when driving, thus improving drive comfortability.

In this embodiment, the image capturing device is controlled to collectthe image of the scene where the vehicle is located; the information ofthe reference pixel point in the reference image is determined, beforethe information of the reference pixel point is parsed, to obtain thereference projection information of the projection pattern in thereference image, where the reference projection information is theprojection information obtained when the image capturing device forcollecting the reference image captures the projection pattern, therebyeffectively increasing accuracy and reliability of the referenceprojection information, so that the target projection information andthe image-altering information can be determined more accurately basedon the reference projection information. After the information of thereference pixel point is parsed to obtain the reference projectioninformation of the projection pattern in the reference image, the targetprojection information can be determined according to the referenceprojection information, thereby effectively assisting in improvement ofaccuracy of determining the target pixel information based on thereference projection information, thus enhancing referability of thetarget pixel information in the vehicle control scenario. Theimage-altering information corresponding to the projection pattern isdetermined according to the reference projection information and thetarget projection information; the terrain information of the ground isdetermined according to the image-altering information; and the movementof the vehicle is controlled according to the terrain information, asthe corresponding control of the vehicle is made according to theterrain information, it is possible to make a more accurate decision forthe vehicle against different terrain information, thus effectivelyenhancing safety of operation of the vehicle, and effectively improvingcontrol of the vehicle.

In this embodiment, as shown in FIG. 8 , a schematic diagramillustrating an application scenario of a method for controlling avehicle according to an embodiment of the present disclosure, includinga vehicle (the coordinate system where the vehicle is located isreferred to as the vehicle coordinate system, which may be specificallyfor example a coordinate system established with a certain point on thevehicle as the original point); a projection device, configured toproject a projection pattern (the projection pattern is projected intothe dotted box at the projection angle indicated by the dotted line asshown in FIG. 8 ) to a scenario where the vehicle is located; and animage capturing device composed of multiple cameras, like the firstcamera (the coordinate system where the first camera is located may bereferred to as the first camera coordinate system, which may bespecifically, for example, a coordinate system established with thefocus center of the first camera as the original point) and the secondcamera (the coordinate system where the second camera is located may bereferred to as the second camera coordinate system, which may bespecifically, for example, a coordinate system established with thefocus center of the second camera as the original point), where theimage capturing device is configured to capture the plurality of imagesof the projection pattern projected by the projection device, such thatcontrol of the movement of the vehicle is achieved by parsing theplurality of the images.

FIG. 9 is a block diagram of an apparatus of controlling a vehicleaccording to an embodiment of the present disclosure.

The vehicle includes an image capturing device.

As shown in FIG. 9 , the apparatus 90 of controlling a vehicle includes:

a collection module 901, configured to control the image capturingdevice to collect an image of a scene where the vehicle is located;

an acquisition module 902, configured to acquire projection informationof a projection pattern in the image;

a determination module 903, configured to determine image-alteringinformation corresponding to the projection pattern according to theprojection information; and

a control module 904, configured to control movement of the vehicleaccording to the image-altering information.

In some embodiments of the present disclosure, wherein the vehicleincludes a plurality of the image capturing devices, and

the acquisition module 902 is specifically configured to:

determine information of a reference pixel point in a reference image,wherein the reference image belongs to a plurality of the images; and

parse the information of the reference pixel point, to obtain referenceprojection information of the projection pattern in the reference image,wherein the reference projection information is projection informationobtained when the image capturing device for collecting the referenceimage captures the projection pattern.

In some embodiments of the present disclosure, as shown in FIG. 10 , ablock diagram of an apparatus of controlling a vehicle according toanother embodiment of the present disclosure. The determination module903 includes:

a first determination sub-module 9031, configured to determine targetprojection information according to the reference projectioninformation, wherein the target projection information is projectioninformation obtained when the image capturing device for collecting atarget image captures the projection pattern, the target image belongsto a plurality of the images, and the reference image is different fromthe target image; and

a second determination sub-module 9032, configured to determine theimage-altering information corresponding to the projection patternaccording to the reference projection information and the targetprojection information.

In some embodiments of the present disclosure, wherein the firstdetermination sub-module 9031 is specifically configured to:

determine the target projection information according to the referenceprojection information and a preset corresponding relationship,

wherein the preset corresponding relationship includes target projectioninformation corresponding to the reference projection information,

wherein the preset corresponding relationship is obtained in advance bycalibrating the projection pattern according to a reference imagecapturing parameter corresponding to the image capturing device forcollecting the reference image and a target image capturing parameter ofthe image capturing device for collecting the target image.

In some embodiments of the present disclosure, wherein the vehiclefurther includes a projection device, as shown in FIG. 10 , theapparatus 90 further includes:

a projection module 905, configured to control the projection device toproject the projection pattern to the scene.

In some embodiments of the present disclosure, wherein

the reference projection information is a reference pixel coordinatebased on a first camera coordinate system, wherein the first cameracoordinate system is a coordinate system of the image capturing devicefor collecting the reference image; and

the target projection information is a target pixel coordinate based ona second camera coordinate system, wherein the second camera coordinatesystem is a coordinate system of the image capturing device forcollecting the target image.

In some embodiments of the present disclosure, wherein the referencepixel point and a target pixel point respectively correspond to aposition point in a space of the scene,

wherein the second determination sub-module 9032 is specificallyconfigured to:

perform coordinate conversion on the reference pixel coordinateaccording to the reference image capturing parameter, to obtain a firstpoint coordinate of the position point based on a vehicle coordinatesystem, wherein the vehicle coordinate system is a coordinate systemwhere the vehicle is located;

perform coordinate conversion on the target pixel coordinate accordingto the target image capturing parameter, to obtain a second pointcoordinate of the position point based on the vehicle coordinate system;and

determine the image-altering information corresponding to the projectionpattern according to the first point coordinate and a plurality of thesecond point coordinates.

In some embodiments of the present disclosure, wherein the seconddetermination sub-module 9032 is specifically configured to:

generate point cloud data corresponding to the position point accordingto the first point coordinate and a plurality of the second pointcoordinates; and

determine the image-altering information corresponding to the projectionpattern according to a plurality of the point cloud data respectivelycorresponding to a plurality of the position points in the scene.

In some embodiments of the present disclosure, wherein the positionpoint is located on ground in the scene, and

wherein the control module 904 is specifically configured to:

determine terrain information of the ground according to theimage-altering information; and

control the vehicle to avoid an obstacle according to the terraininformation.

In some embodiments of the present disclosure, wherein the controlmodule 904 is specifically configured to determine at least one of:

ground flatness of the ground according to the image-alteringinformation;

a ground slope of the ground according to the image-alteringinformation; and

traffic sign information on the ground according to the image-alteringinformation,

wherein at least one of the ground flatness, the ground slope and thetraffic sign information is taken as the terrain information.

In some embodiments of the present disclosure, wherein the positionpoint is located at a target object in the scene, and

wherein the control module 904 is specifically configured to:

determine shape information and position information of the targetobject according to the image-altering information; and

control the vehicle to avoid an obstacle according to the shapeinformation and the position information.

It should be noted that explanation and illustration for the aboveembodiments of the method for controlling a vehicle are also applicablefor the embodiments of the apparatus of controlling a vehicle, whichwill not be elaborated herein.

In these embodiments, the image capturing device is controlled tocollect the image of the scene where the vehicle is located; theprojection information of the projection pattern in the image isacquired; the image-altering information corresponding to the projectionpattern is determined according to the projection information; and themovement of the vehicle is controlled according to the image-alteringinformation, thereby achieving assistance in identification of sceneinformation using identified projection information, thus effectivelyassisting in identification of related information of the scene wherethe vehicle is located, effectively increasing accuracy of controllingthe movement of the vehicle, enhancing safety of operation of thevehicle, and improving robustness and applicability for the vehiclecontrol method.

FIG. 11 is a block diagram of a vehicle according to an embodiment ofthe present disclosure.

As shown in FIG. 11 , the vehicle 110 includes:

a body 1101;

a plurality of image capturing devices 1102, each configured to collectan image of a scene; and

a control apparatus 1103, connected to each of the plurality of imagecapturing devices, and configured to execute the method for controllinga vehicle in any of the above embodiments.

In some embodiments of the present disclosure, the vehicle 110 furtherincludes:

a projection device 1104, connected to the control apparatus 1103,

wherein the control apparatus 1103 is further configured to control theprojection device 1104 to project a projection pattern to the scene,wherein the projection pattern is used to control movement of thevehicle 110.

In some embodiments of the present disclosure, the vehicle 110 furtherincludes:

a vehicle lamp 1105 for illumination,

wherein the projection device 1104 is integrated with the vehicle lamp1105.

It should be noted that explanation and illustration for the aboveembodiments of the method for controlling a vehicle are also applicablefor the embodiments of the vehicle 110, which will not be elaboratedherein.

In these embodiments, the vehicle is provided with the body; theplurality of the image capturing devices each of which is configured tocollect the image of the scene; and the control apparatus which isconnected to each of the plurality of image capturing devices andconfigured to execute the method for controlling a vehicle as describedabove, thereby achieving assistance in identification of sceneinformation using identified projection information, thus effectivelyassisting in identification of related information of the scene wherethe vehicle is located, effectively increasing accuracy of controllingthe movement of the vehicle, enhancing safety of operation of thevehicle, and improving robustness and applicability for the vehiclecontrol method.

FIG. 12 is a block diagram of an electronic device according to anembodiment of the present disclosure.

The electronic device includes:

a memory 1201, a processor 1202 and a computer program stored in thememory 1201 and executable on the processor 1202.

The processor 1202, when executing the program, achieves the method forcontrolling a vehicle provided in embodiments as described above, thevehicle includes an image capturing device, wherein the processor 1202is configured to:

control the image capturing device to collect an image of a scene wherethe vehicle is located;

acquire projection information of a projection pattern in the image;

determine image-altering information corresponding to the projectionpattern according to the projection information; and

control movement of the vehicle according to the image-alteringinformation.

In a possible implementation, the electronic device further includes:

a communication interface 1203, configured for communication between thememory 1201 and the processor 1202.

In some embodiments of the present disclosure, the vehicle includes aplurality of the image capturing devices, and the processor 1202 isconfigured to acquire projection information of a projection pattern inthe image by:

determining information of a reference pixel point in a reference image,wherein the reference image belongs to a plurality of the images; and

parsing the information of the reference pixel point, to obtainreference projection information of the projection pattern in thereference image, wherein the reference projection information isprojection information obtained when the image capturing device forcollecting the reference image captures the projection pattern.

In some embodiments of the present disclosure, the processor 1202 isconfigured to:

determine target projection information according to the referenceprojection information, wherein the target projection information isprojection information obtained when the image capturing device forcollecting a target image captures the projection pattern, the targetimage belongs to a plurality of the images, and the reference image isdifferent from the target image; and

determine the image-altering information corresponding to the projectionpattern according to the reference projection information and the targetprojection information.

In some embodiments of the present disclosure, the processor 1202 isconfigured to:

determine the target projection information according to the referenceprojection information and a preset corresponding relationship,

wherein the preset corresponding relationship includes target projectioninformation corresponding to the reference projection information,

wherein the preset corresponding relationship is obtained in advance bycalibrating the projection pattern according to a reference imagecapturing parameter corresponding to the image capturing device forcollecting the reference image and a target image capturing parameter ofthe image capturing device for collecting the target image.

In some embodiments of the present disclosure, the vehicle furtherincludes a projection device, and the processor 1202 is furtherconfigured to

control the projection device to project the projection pattern to thescene, prior to control the image capturing device to collect an imageof a scene where the vehicle is located.

In some embodiments of the present disclosure, the reference projectioninformation is a reference pixel coordinate based on a first cameracoordinate system, wherein the first camera coordinate system is acoordinate system of the image capturing device for collecting thereference image; and

the target projection information is a target pixel coordinate based ona second camera coordinate system, wherein the second camera coordinatesystem is a coordinate system of the image capturing device forcollecting the target image.

In some embodiments of the present disclosure, the reference pixel pointand a target pixel point respectively correspond to a position point ina space of the scene,

the processor 1202 is configured to:

perform coordinate conversion on the reference pixel coordinateaccording to the reference image capturing parameter, to obtain a firstpoint coordinate of the position point based on a vehicle coordinatesystem, wherein the vehicle coordinate system is a coordinate systemwhere the vehicle is located;

perform coordinate conversion on the target pixel coordinate accordingto the target image capturing parameter, to obtain a second pointcoordinate of the position point based on the vehicle coordinate system;and

determine the image-altering information corresponding to the projectionpattern according to the first point coordinate and a plurality of thesecond point coordinates.

In some embodiments of the present disclosure, the processor 1202 isconfigured to

generate point cloud data corresponding to the position point accordingto the first point coordinate and the plurality of the second pointcoordinates; and

determine the image-altering information corresponding to the projectionpattern according to a plurality of the point cloud data respectivelycorresponding to a plurality of the position points in the scene.

In some embodiments of the present disclosure, the position point islocated on ground in the scene,

the processor 1202 is configured to controlling movement of the vehicleaccording to the image-altering information by:

determining terrain information of the ground according to theimage-altering information; and

controlling the movement of the vehicle according to the terraininformation.

In some embodiments of the present disclosure, the processor 1202 isconfigured to:

determine ground flatness of the ground according to the image-alteringinformation;

determine a ground slope of the ground according to the image-alteringinformation; and

determine traffic sign information on the ground according to theimage-altering information,

wherein at least one of the ground flatness, the ground slope and thetraffic sign information is taken as the terrain information.

In some embodiments of the present disclosure, the position point islocated at a target object in the scene,

the processor 1202 is configured to controlling movement of the vehicleaccording to the image-altering information by:

determining shape information and position information of the targetobject according to the image-altering information; and

controlling the vehicle to avoid an obstacle according to the shapeinformation and the position information.

The memory 1201 is configured to store the computer program executableon the processor 1202.

The memory 1201 may include a high-speed Random Access Memory (referredto as a RAM memory hereinafter), or a non-volatile memory, for exampleat least one disk memory.

The processor 1202 is configured to achieve the method for controlling avehicle as described in the above embodiments when executing theprogram.

In the case that the memory 1201, the processor 1202 and thecommunication interface 1203 are implemented independently, the memory1201, the processor 1202 and the communication interface 1203 may beconnected mutually by a bus and achieve mutual communication. The busmay be an Industry Standard Architecture (hereinafter referred to asISA) bus, a Peripheral Component Interconnect (hereinafter referred toas PCI) bus, an Extended Industry Standard Architecture (hereinafterreferred to as EISA) bus, or the like. The bus may be divided into anaddress bus, a data bus, a control bus, etc. For ease of presentation,only one thick line is given in FIG. 12 , but it does not mean thatthere is only one bus or one type of the bus.

Optionally, for a specific implementation, in the case that the memory1201, the processor 1202 and the communication interface 1203 areintegrated on one chip, the memory 1201, the processor 1202 and thecommunication interface 1203 may achieve mutual communication via aninternal interface.

The processor 1202 may be a Central Processing Unit (hereinafterreferred to as CPU), an Application Specific Integrated Circuit(hereinafter referred to as ASIC), or configured to one or moreintegrated circuits for implementing embodiments of the presentdisclosure.

The present disclosure further provides in embodiments acomputer-readable storage medium having stored therein a computerprogram that, when executed by a processor, achieves a method forcontrolling a vehicle as described above.

In order to achieve the above embodiments, the present disclosurefurther provides in embodiments a computer program product, in whichinstructions in the computer program product, when executed by aprocessor, achieves a method for controlling a vehicle as described inany of the above embodiments.

It should be noted that, in the description of the present disclosure,terms such as “first” and “second” are used herein for purposes ofdescription and are not intended to indicate or imply relativeimportance. Besides, in the description of the present disclosure, “aplurality of” means two or more than two this features, unless specifiedotherwise.

Any procedure or method described in the flow charts or described in anyother way herein may be understood to includes one or more modules,portions or parts for storing executable codes that realize particularlogic functions or procedures. Moreover, advantageous embodiments of thepresent disclosure include other implementations in which the order ofexecution is different from that which is depicted or discussed,including executing functions in a substantially simultaneous manner orin an opposite order according to the related functions. This should beunderstood by those skilled in the art to which embodiments of thepresent disclosure belong.

It should be understood that each part of the present disclosure may berealized by the hardware, software, firmware or their combination. Inthe above embodiments, a plurality of steps or methods may be realizedby the software or firmware stored in the memory and executed by theappropriate instruction execution system. For example, if it is realizedby the hardware, likewise in another embodiment, the steps or methodsmay be realized by one or a combination of the following techniquesknown in the art: a discrete logic circuit having a logic gate circuitfor realizing a logic function of a data signal, an application-specificintegrated circuit having an appropriate combination logic gate circuit,a programmable gate array (PGA), a field programmable gate array (FPGA),etc.

Those skilled in the art shall understand that all or parts of the stepsin the above exemplifying method of the present disclosure may beachieved by commanding the related hardware with programs. The programsmay be stored in a computer readable storage medium, and the programsinclude one or a combination of the steps in the method embodiments ofthe present disclosure when run on a computer.

In addition, each function cell of the embodiments of the presentdisclosure may be integrated in a processing module, or these cells maybe separate physical existence, or two or more cells are integrated in aprocessing module. The integrated module may be realized in a form ofhardware or in a form of software function modules. When the integratedmodule is realized in a form of software function module and is sold orused as a standalone product, the integrated module may be stored in acomputer-readable storage medium.

The storage medium mentioned above may be read-only memories, magneticdisks, CD, etc.

Reference throughout this specification to “an embodiment”, “someembodiments”, “one embodiment”, “another example”, “an example”, “aspecific example” or “some examples” means that a particular feature,structure, material, or characteristic described in connection with theembodiment or example is included in at least one embodiment or exampleof the present disclosure. Thus, the appearances of the phrases such as“in some embodiments”, “in one embodiment”, “in an embodiment”, “inanother example”, “in an example”, “in a specific example” or “in someexamples”, in various places throughout this specification are notnecessarily referring to the same embodiment or example of the presentdisclosure. Furthermore, the particular features, structures, materials,or characteristics may be combined in any suitable manner in one or moreembodiments or examples.

Although explanatory embodiments have been shown and described, it wouldbe appreciated by those skilled in the art that the above embodimentscannot be construed to limit the present disclosure, and changes,alternatives, and modifications can be made in the embodiments in thescope of the present disclosure.

What is claimed is:
 1. A method for controlling a vehicle comprising animage capturing device, the method comprising: controlling the imagecapturing device to collect an image of a scene where the vehicle islocated; acquiring projection information of a projection pattern in theimage; determining image-altering information corresponding to theprojection pattern according to the projection information; andcontrolling movement of the vehicle according to the image-alteringinformation.
 2. The method according to claim 1, wherein the vehiclecomprises a plurality of the image capturing devices, and acquiringprojection information of a projection pattern in the image comprises:determining information of a reference pixel point in a reference image,wherein the reference image belongs to a plurality of the images; andparsing the information of the reference pixel point, to obtainreference projection information of the projection pattern in thereference image, wherein the reference projection information isprojection information obtained when the image capturing device forcollecting the reference image captures the projection pattern.
 3. Themethod according to claim 2, wherein determining image-alteringinformation corresponding to the projection pattern according to theprojection information comprises: determining target projectioninformation according to the reference projection information, whereinthe target projection information is projection information obtainedwhen the image capturing device for collecting a target image capturesthe projection pattern, the target image belongs to a plurality of theimages, and the reference image is different from the target image; anddetermining the image-altering information corresponding to theprojection pattern according to the reference projection information andthe target projection information.
 4. The method according to claim 3,wherein determining target projection information according to thereference projection information comprises: determining the targetprojection information according to the reference projection informationand a preset corresponding relationship, wherein the presetcorresponding relationship comprises target projection informationcorresponding to the reference projection information, wherein thepreset corresponding relationship is obtained in advance by calibratingthe projection pattern according to a reference image capturingparameter corresponding to the image capturing device for collecting thereference image and a target image capturing parameter of the imagecapturing device for collecting the target image.
 5. The methodaccording to claim 1, wherein the vehicle further comprises a projectiondevice, and the method further comprises: controlling the projectiondevice to project the projection pattern to the scene, prior tocontrolling the image capturing device to collect an image of a scenewhere the vehicle is located.
 6. The method according to claim 4,wherein the reference projection information is a reference pixelcoordinate based on a first camera coordinate system, wherein the firstcamera coordinate system is a coordinate system of the image capturingdevice for collecting the reference image; and the target projectioninformation is a target pixel coordinate based on a second cameracoordinate system, wherein the second camera coordinate system is acoordinate system of the image capturing device for collecting thetarget image.
 7. The method according to claim 6, wherein the referencepixel point and a target pixel point respectively correspond to aposition point in a space of the scene, wherein determining theimage-altering information corresponding to the projection patternaccording to the reference projection information and the targetprojection information comprises: performing coordinate conversion onthe reference pixel coordinate according to the reference imagecapturing parameter, to obtain a first point coordinate of the positionpoint based on a vehicle coordinate system, wherein the vehiclecoordinate system is a coordinate system where the vehicle is located;performing coordinate conversion on the target pixel coordinateaccording to the target image capturing parameter, to obtain a secondpoint coordinate of the position point based on the vehicle coordinatesystem; and determining the image-altering information corresponding tothe projection pattern according to the first point coordinate and aplurality of the second point coordinates.
 8. The method according toclaim 7, wherein determining the image-altering informationcorresponding to the projection pattern according to the first pointcoordinate and a plurality of the second point coordinates comprises:generating point cloud data corresponding to the position pointaccording to the first point coordinate and the plurality of the secondpoint coordinates; and determining the image-altering informationcorresponding to the projection pattern according to a plurality of thepoint cloud data respectively corresponding to a plurality of theposition points in the scene.
 9. The method according to claim 7,wherein the position point is located on ground in the scene, whereincontrolling movement of the vehicle according to the image-alteringinformation comprises: determining terrain information of the groundaccording to the image-altering information; and controlling themovement of the vehicle according to the terrain information.
 10. Themethod according to claim 9, wherein determining terrain information ofthe ground according to the image-altering information comprises atleast one of: determining ground flatness of the ground according to theimage-altering information; determining a ground slope of the groundaccording to the image-altering information; and determining trafficsign information on the ground according to the image-alteringinformation, wherein at least one of the ground flatness, the groundslope and the traffic sign information is taken as the terraininformation.
 11. The method according to claim 7, wherein the positionpoint is located at a target object in the scene, wherein controllingmovement of the vehicle according to the image-altering informationcomprises: determining shape information and position information of thetarget object according to the image-altering information; andcontrolling the vehicle to avoid an obstacle according to the shapeinformation and the position information.
 12. A vehicle, comprising: abody; a plurality of image capturing devices, configured to collect animage of a scene where the vehicle is located; and a control apparatus,connected to each of the plurality of image capturing devices, andconfigured to execute the method for controlling a vehicle, wherein themethod comprises: controlling the image capturing device to collect animage of a scene where the vehicle is located; acquiring projectioninformation of a projection pattern in the image; determiningimage-altering information corresponding to the projection patternaccording to the projection information; and controlling movement of thevehicle according to the image-altering information.
 13. The vehicleaccording to claim 12, further comprising: a projection device,connected to the control apparatus, wherein the control apparatus isfurther configured to control the projection device to project aprojection pattern to the scene, wherein the projection pattern is usedto control movement of the vehicle.
 14. The vehicle according to claim13, further comprising: a vehicle lamp for illumination, wherein theprojection device is integrated with the vehicle lamp.
 15. An electronicdevice, comprising: a memory; a processor; and a computer program storedin the memory and executable on the processor, wherein the processorwhen executing the program achieves a method for controlling a vehicle,wherein the vehicle comprises an image capturing device, wherein theprocessor is configured to: control the image capturing device tocollect an image of a scene where the vehicle is located; acquireprojection information of a projection pattern in the image; determineimage-altering information corresponding to the projection patternaccording to the projection information; and control movement of thevehicle according to the image-altering information.
 16. The electronicdevice according to claim 15, wherein the vehicle comprises a pluralityof the image capturing devices, and the processor is configured toacquire projection information of a projection pattern in the image by:determining information of a reference pixel point in a reference image,wherein the reference image belongs to a plurality of the images; andparsing the information of the reference pixel point, to obtainreference projection information of the projection pattern in thereference image, wherein the reference projection information isprojection information obtained when the image capturing device forcollecting the reference image captures the projection pattern.
 17. Theelectronic device according to claim 16, wherein the processor isconfigured to: determine target projection information according to thereference projection information, wherein the target projectioninformation is projection information obtained when the image capturingdevice for collecting a target image captures the projection pattern,the target image belongs to a plurality of the images, and the referenceimage is different from the target image; and determine theimage-altering information corresponding to the projection patternaccording to the reference projection information and the targetprojection information.
 18. The electronic device according to claim 17,wherein the processor is configured to: determine the target projectioninformation according to the reference projection information and apreset corresponding relationship, wherein the preset correspondingrelationship comprises target projection information corresponding tothe reference projection information, wherein the preset correspondingrelationship is obtained in advance by calibrating the projectionpattern according to a reference image capturing parameter correspondingto the image capturing device for collecting the reference image and atarget image capturing parameter of the image capturing device forcollecting the target image.
 19. The electronic device according toclaim 15, wherein the vehicle further comprises a projection device, andthe processor is further configured to control the projection device toproject the projection pattern to the scene, prior to control the imagecapturing device to collect an image of a scene where the vehicle islocated.
 20. The electronic device according to claim 19, wherein thereference projection information is a reference pixel coordinate basedon a first camera coordinate system, wherein the first camera coordinatesystem is a coordinate system of the image capturing device forcollecting the reference image; and the target projection information isa target pixel coordinate based on a second camera coordinate system,wherein the second camera coordinate system is a coordinate system ofthe image capturing device for collecting the target image.